This is I’d say partially because we don’t have a HUD that can handle the bandwidth and pace of data required for rally. Overlaying a visualization of the turns ahead would be much better than a copilot for sure

If we have HUDs that can handle aerial combat, why don't we have HUDs that can handle racing?

Budget? It's a better trade-off to have a second human and to put the money into tuning the car.

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this is true, so we just lack the incentives to make them? a human copilot is just a core part of the sport?